Wireless golf club motion capture apparatus

ABSTRACT

Wireless golf club motion capture apparatus configured to obtain spatial data from at least one sensor that is coupled with a microcontroller wherein the apparatus fits into a golf club handle or weight port or otherwise couples to a golf club. The apparatus may send a unique identifier and spatial data over a self-contained radio and antenna wirelessly to an external system that may analyze and display the spatial data in a user-friendly manner. The unique identifier and/or radio through use of non-interfering communications mechanisms allows for multiple clubs one or more players to be within range of a wireless receiver and not interfere. Adapters that may be specific to each golf club manufacture allow for coupling the apparatus to any type of golf club.

This application is a continuation-in-part of U.S. Utility patentapplication Ser. No. 12/868,882 filed 26 Aug. 2010, the specification ofwhich is hereby incorporated herein by reference.

BACKGROUND OF THE INVENTION

1. Field of the Invention

One or more embodiments setting forth the ideas described throughoutthis disclosure pertain to the field of portable wireless mobile devicecomputer systems, motion capture elements such as visual markers andsensors utilized in the capture of motion data. More particularly, butnot by way of limitation, one or more aspects of the disclosure enable awireless golf club motion capture apparatus.

2. Description of the Related Art

One known technique to teach effective body mechanics utilizes videorecording of an athlete and analysis of the recorded video of anathlete. This technique has various limitations including inaccurate andinconsistent subjective analysis based on video for example. Anothertechnique includes motion analysis, for example using at least twocameras to capture three-dimensional points of movement associated withan athlete. Known implementations utilize a stationary multi-camerasystem that is not portable and thus cannot be utilized outside of theenvironment where the system is installed, for example during anathletic event such as a golf tournament. These fixed installations areextremely expensive as well. Such prior techniques are summarized inU.S. Pat. No. 7,264,554, filed 26 Jan. 2006, which claims the benefit ofU.S. Provisional Patent Application Ser. No. 60/647,751 filed 26 Jan.2005, the specifications of which are both hereby incorporated herein byreference. Both disclosures are to the same inventor of the subjectmatter of the instant application.

Known systems generally utilize several passive or active markers orseveral sensors. There are no known systems that utilize as little asone visual marker or sensor and a mobile device to analyze and displaymotion capture data associated with a user and/or piece of equipment.

There are no known systems that allow for a group of mobile devices toshare data to form three-dimensional motion capture data bytriangulation of visual markers. There are no known systems that allowfor a mobile device without a camera to obtain images from cameras orother mobile devices with cameras to display motion capture data.

There are no known mobile motion captures systems that allow for a userto align a camera correctly along the horizontal before capture ofmotion data having horizontally aligned images.

There are no known systems that allow for motion capture elements suchas wireless sensors to seamlessly integrate or otherwise couple with agolf club, for example in the weight port of a golf club or at the endshaft near the handle so as to provide a wireless golf club, configuredto capture motion data. In addition, there are no known systems thatallow for motion capture elements such as wireless sensors to seamlesslyintegrate or couple with shoes, gloves, shirts, pants, belts, or otherequipment, or a user, in such a small format that the user is not awarethat the sensors are located in these items.

In addition, for sports that utilize a piece of equipment and a ball,there are no known portable wireless mobile device motion capture andanalysis systems that allow the user to obtain immediate visual feedbackregarding ball flight distance, swing speed, swing efficiency of thepiece of equipment or how centered an impact of the ball is, i.e., whereon piece of equipment the collision of the ball has taken place.

In addition, there are no known systems that provide portable wirelessmobile device motion capture and analysis for equipment fitting andsubsequent point-of-sale decision making for instantaneous purchasing ofequipment that fits an athlete. Furthermore, no known systems allow forcustom order fulfillment such as assemble-to-order (ATO) for customorder fulfillment of sporting equipment, for example equipment that isbuilt to customer specifications based on portable wireless mobiledevice motion capture and analysis, and shipped to the customer tocomplete the point of sales process.

For at least the limitations described above there is a need for awireless golf club motion capture apparatus.

BRIEF SUMMARY OF THE INVENTION

Embodiments of the invention enable a wireless golf club motion captureapparatus. The apparatus allows for the measurement of orientation(North/South, and/or two horizontal axes and the vertical axis) andacceleration using an inertial measurement unit, or accelerometersand/or magnetometers, and/or gyroscopes. The apparatus may also includeidentifiers that enable a specific apparatus to be identified. Theidentifiers may be a serial number for example. Utilizing this apparatusenables the identification of a specific golfer, specific club and alsoenables perform motion capture and/or display with a system thatincludes a television and/or mobile device having a visual display andan optional camera and capable of obtaining data from at least onemotion capture element such as a visual marker and/or a wireless sensor.The system can also integrate with standalone cameras, or cameras onmultiple mobile devices. The system also enables the user to analyze anddisplay the motion capture data in a variety of ways that provideimmediate and easy to understand graphical information associated withthe motion capture data. The apparatus enables the system to alsodetermine how “centered” an impact is with respect to a ball and a pieceof equipment, such as a golf club for example. The system also allowsfor fitting of equipment including shoes, clubs, etc., and immediatepurchasing of the equipment even if the equipment requires a customassemble-to-order request from a vendor.

For example, analyzing the data obtained from the apparatus enables thepresentation of unique displays associated with the user, such as 3Doverlays onto images of the body of the user to visually depict thecaptured motion data. For embodiments of the invention that utilize amobile device (or more than one mobile device) without camera(s), sensordata may be utilized to generate displays of the captured motion data,while the mobile device may optionally obtain images from other camerasor other mobile devices with cameras. For example, display types thatmay or may not utilize images of the user may include ratings,calculated data and time line data. Ratings associated with the capturedmotion can also be displayed to the user in the form of numerical orgraphical data with or without a user image, for example an “efficiency”rating. Calculated data, such as a predicted ball flight path data canbe calculated and displayed on the mobile device with or withoututilizing images of the user's body. Data depicted on a time line canalso be displayed with or without images of the user to show therelative peaks of velocity for various parts of the equipment or user'sbody for example. Images from multiple cameras including multiple mobiledevices, for example from a crowd of golf fans, may be combined into aBULLET TIME® visual effect characterized by slow motion of the golfswing shown from around the golfer at various angles at normal speed.

In one or more embodiments of the invention, fixed cameras such as at agolf tournament or other sporting event can be utilized with a wirelessinterface located near the player/equipment having motion captureelements so as to obtain, analyze and display motion capture data. Inthis embodiment, real-time or near real-time motion data can bedisplayed on the video for augmented video replays. An increase in theentertainment level is thus created by visually displaying how fastequipment is moving during a shot, for example with rings drawn around aplayers hips and shoulders.

Based on the display of data, the user can determine the equipment thatfits the best and immediately purchase the equipment, via the mobiledevice. For example, when deciding between two golf clubs, a user cantake swings with different clubs and based on the analysis of thecaptured motion data and quantitatively determine which club performsbetter. Custom equipment may be ordered through an interface on themobile device from a vendor that can assemble-to-order customer builtequipment and ship the equipment to the user for example. Shaft lengthsfor putters for example that are a standard length can be custom madefor a particular user based on captured motion data as a user putts withan adjustable length shaft for example.

Embodiments of the may integrate with a system that may utilize avariety of sensor types. In one or more embodiments of the invention,active sensors may integrate with a system that permits passive oractive visual markers to be utilized to capture motion of particularpoints on a user's body or equipment. This may be performed in a simplytwo-dimensional manner or in a three-dimensional manner if the mobiledevice is configured with two or more cameras, or if multiple cameras ormobile devices are utilized to capture images such as video and sharethe images in order to create triangulated three-dimensional motion datafrom a set of two-dimensional images obtained from each camera. Anotherembodiment of the invention may utilize inertial measurement units (IMU)or any other sensors that can produce any combination of orientation,position, velocity and/or acceleration information to the mobile device.The sensors may thus obtain data that may include any combination of oneor more values associated with orientation (vertical or North/South orboth), position (either via through Global Positioning System, i.e.,“GPS” or through triangulation), velocity (in all three axes),acceleration (in all three axes).

In one or more embodiments of the invention, a sensor may be utilizedthat includes a passive marker or active marker on an outside surface ofthe sensor, so that the sensor may also be utilized for visual tracking(either two-dimensional or three-dimensional) and for orientation,position, velocity, acceleration or any other physical quantity producedby the sensor. Visual marker embodiments of the motion captureelement(s) may be passive or active, meaning that they may either have avisual portion that is visually trackable or may include a lightemitting element such as a light emitting diode (LED) that allows forimage tracking in low light conditions. This for example may beimplemented with a graphical symbol or colored marker at the end of theshaft near the handle or at the opposing end of the golf club at thehead of the club.

The sensors utilized with embodiments of the apparatus may be generallymounted on or near opposing ends of a golf club and may integrate withother sensors coupled to equipment, such as shoes, pants, shirts,gloves, clubs, bats, racquets, balls, etc., and/or may be attached to auser in any possible manner. For example, one or more embodiments of thesensor can fit into a weight port of a golf club, and/or in the handleend of the golf club. Other embodiments may fit into the handle of, orend of, a tennis racquet or baseball bat for example. One or moreembodiments of the invention may also operate with balls that haveintegrated sensors as well. Alternatively, the system may calculate thevirtual flight path of a ball that has come in contact with equipmentmoved by a player. For example with a golf club having a sensorintegrated into a weight port of other portion of the end of the clubstriking the golf ball and having a second sensor located in the tip ofthe handle of the golf club, or in one or more gloves worn by theplayer, an angle of impact can be calculated for the club. By knowingthe loft of the face of the club, an angle of flight may be calculatedfor the golf ball. In addition, by sampling the sensor at the end of theclub at a high enough speed to determine oscillations indicative ofwhere on the face of the club the golf ball was struck, a quality ofimpact may be determined. These types of measurements and the analysisthereof help an athlete improve, and for fitting purposes, allow anathlete to immediately purchase equipment that fits correctly.

One or more embodiments of the sensor may contain charging features suchas mechanical eccentric weight, as utilized in some watches known as“automatic” or “self-winding” watches, optionally including a smallgenerator, or inductive charging coils for indirect electromechanicalcharging of the sensor power supply. Other embodiments may utilize plugsfor direct charging of the sensor power supply or electromechanical ormicroelectromechanical (MEMS) based charging elements. One or moreembodiments of the sensor may utilize power saving features includinggestures that power the sensor on or off. Such gestures may includephysical switches, contact with the sensor, wireless commands to thesensor, for example from a mobile device that is associated with theparticular sensors. Other elements that may couple with the sensorincludes a battery, low power microcontroller, antenna and radio, heatsync, recharger and overcharge sensor for example.

A user may also view the captured motion data in a graphical form on thedisplay of the mobile device or for example on a set of glasses thatcontains a video display. The captured motion data obtained fromembodiments of the motion capture element may also be utilized toaugment a virtual reality display of user in a virtual environment.

BRIEF DESCRIPTION OF THE DRAWINGS

The above and other aspects, features and advantages of the ideasconveyed through this disclosure will be more apparent from thefollowing more particular description thereof, presented in conjunctionwith the following drawings wherein:

FIG. 1 illustrates an embodiment of the system that enables a portablewireless mobile device motion capture and analysis system that mayutilize data obtained from one or more embodiments of the invention.

FIG. 2 illustrates an embodiment of the overall modes of the softwareprogrammed to execute on the computer of the mobile device, wherein thecomputer is configured to recognize the motion capture elements, obtaindata, analyze the data and display motion analysis data.

FIG. 3 illustrates displays associated with FIG. 2 in greater detail.

FIG. 4 illustrates and embodiment of the recognition module that isconfigured to assign particular sensors to particular locations on anathlete and/or on a piece of equipment.

FIG. 5 illustrates an embodiment of the obtain data module that isconfigure to obtain data from a camera (optionally on the mobile deviceor obtain through another camera or camera on another mobile device),data from motion capture elements, i.e., any combination of visualmarkers or sensors as assigned to particular portions of the user's bodyor piece of equipment. In addition, the figure shows displays dataanalyzed by the analysis module and generated by the display module toshow either the user along with motion analysis data, or with motionanalysis data alone.

FIG. 6 illustrates a detailed drill down into the motion analysis datato display including overall efficiency, head, torso, hip, hand, club,left and right foot segment efficiencies. Embodiments of the inventionthus enable physical training specific to the area that a user needs asdetermined by the analysis module.

FIG. 7 illustrates a close up display of motion analysis data associatedwith a user, without use of an image associated with a user.

FIG. 8 illustrates an embodiment of the motion capture element thatoptionally includes a visual marker and/or sensor.

FIG. 9 illustrates a front view of FIG. 8.

FIG. 10 illustrates an embodiment of the motion capture elementimplemented with a passive marker and gray scale images thereof to showhow the marker can be tracked by obtaining an image and searching for aluminance change from black to white.

FIG. 11 illustrates a hardware implementation of the sensor portion of amotion capture element implemented as a wireless inertial measurementunit, and an embodiment as configured to couple with a weight port of agolf club for example.

FIG. 12 illustrates an embodiment of the motion capture element asconfigured to couple with different golf club types and a shoe.

FIG. 13 illustrates a close-up of the shoe of FIG. 12 along with apressure map of a shoe configured with a pressure matt inside the shoeconfigured to output pressure per particular areas of the shoe.

FIG. 14 illustrates an embodiment of sunglasses configured with anembodiment of the motion capture element.

FIG. 15 illustrates an embodiment of a display that depicts the locationof a golf ball strike as determined by the oscillations in the golf clubface during and/or after the golf club impacts a golf ball.

FIG. 16 illustrates a camera alignment tool as utilized with embodimentsof the system to create normalized images for capture and analysis.

FIG. 17 illustrates a balance box and center alignment line to aid incentering a user to obtain image data.

FIG. 18 illustrates a balance box and center alignment line, along withprimary and secondary shaft lines to aid in centering and analyzingimages of the user.

FIG. 19 illustrates an embodiment of the display configured to aid inclub fitting for a user, wherein a user may test multiple clubs andwherein the display shows motion analysis data. For embodiments of theinvention may be utilized to obtain sensor data that is utilized forpurchase and order fulfillment options, buttons such as “purchase” and“customer order” may be utilized.

FIG. 20 illustrates an embodiment of the display configured to displaymotion analysis data along with the user, some of which is overlaid ontothe user to aid in understanding the motion analysis data in a morehuman understandable format. In addition, motion analysis dataassociated with the user can be shown numerically as shown for exampleas “efficiency” of the swing, and the velocity of the swing.

FIG. 21 illustrates an embodiment of the system configured to display auser from multiple angles when multiple cameras are available. One ormore embodiments of the system may show one image of the user at a timein slow motion as the user moves, while changing the angle of the viewof the user in normal time, which is known as BULLET TIME®.

FIG. 22 illustrates another embodiment of the multi-angle display as isalso shown in FIG. 21 wherein this figure also includesthree-dimensional overlay graphics to aid in understanding the motionanalysis data in a more human understandable manner.

FIG. 23 shows an embodiment of the system configured to display motionanalysis data on a mobile computer, personal computer, IPAD® or anyother computer with a display device large enough to display the desireddata.

FIG. 24 illustrates a timeline display of motion analysis data thatshows multiple sensor angular velocities in reference to the world orfor example to a portion of the piece of equipment or object to hit or avirtual spine or a boney landmark, as obtained from sensors on a userand/or on a piece of equipment.

FIG. 25 illustrates a timeline display of motion analysis data thatshows multiple sensor angular speeds obtained from multiple sensors on asecond user and on a piece of equipment. Efficient movement pattern ofbody segments know as a kinetic chain and of kinematic segmentalsequencing.

FIG. 26 illustrates a timeline display of a user along with peak andminimum angular speeds along the timeline shown as events along the timeline instead of as Y-axis data as shown in FIGS. 24 and 25. In addition,a graph showing the lead and lag of the golf club along with the droopand drift of the golf club is shown in the bottom display wherein thesevalues determine how much the golf club shaft is bending in two axes asplotted against time.

FIG. 27 illustrates a display of the calculated flight path of a ballbased on the motion analysis data wherein the display is associated withany type of computer, personal computer, IPAD® or any other type ofdisplay capable of displaying images.

FIG. 28 illustrates a display of the calculated flight path of a ballbased on motion analysis data wherein the display is coupled with amobile device.

FIG. 29 illustrates a display of a broadcast television event wherein atleast one motion capture element in the form of a motion sensor iscoupled with the golf club and optionally the user. The display can beshown in normal time after the athlete strikes the ball, or in slowmotion with motion analysis data including the three-dimensional overlayof the position of the sensor on the end of the club shown as a traceline and including the angle of the plane in which the swing takes placeversus the horizontal plane. In addition, other motion analysis data maybe shown such as the swing speed, distance (calculated or actual) andefficiency.

FIG. 30 illustrates a display of the swing path with a strobe effectwherein the golf club in this example includes sensors on the club headand hear the handle, or optionally near the hands or in the gloves ofthe user. Optionally, imaged based processing from a high speed cameramay be utilized to produce the display. The swing path for good shotscan be compared to swing paths for inaccurate shots to display thedifferences in a human understandable manner.

FIG. 31 illustrates a display of shaft efficiency as measured throughthe golf swing. For example, by obtaining motion capture data near theclub head and club handle, graphical strobe effects and motion analysisdata can show the club head speed, club handle speed and club shaftefficiency in normal time or slow motion.

FIG. 32 illustrates a display of putter head acceleration based on atleast one sensor near the putter head, for example as coupled into theweight port of a putter. The various quantities from the motion analysisdata can be displayed to aid in understanding acceleration patterns forgood putts and bad putts to help viewers understand acceleration in amore human understandable manner.

FIG. 33 illustrates a display of dynamic lie angle, wherein the lieangle of the player at address before swinging at the ball can becompared to the lie angle at impact to help the viewer understand howlie angle effects loft and ball flight.

FIG. 34 illustrates a display of shaft release, wherein the angularrelease velocity of the golf shaft is a large component of theefficiency of a swing. As shown, a display of a golfer that has sensorsnear his waist and hips and sensors on the golf club head and handle, oras determined through image processing with or without visual markers,is shown with the motion analysis data.

FIG. 35 illustrates a display of rotational velocity wherein the faceangle, club face closure in degrees per second, the loft angle and lieangle are shown as obtained from a motion capture element on the clubhead for example.

FIG. 36 illustrates a display of historical players with motion analysisdata computed through image processing to show the performance of greatplayers.

FIG. 37 illustrates one embodiment of the equations used for predictinga golf ball flight path as used to produce displays as shown in FIGS. 27and 28.

FIG. 38 shows elements of an embodiment of the invention configured tofit into the end of a golf shaft.

FIG. 39 shows an embodiment of the apparatus of FIG. 38 integrated intothe handle of a golf club.

FIG. 40 shows elements of another embodiment of the invention configuredto fit into the end of a golf shaft

FIG. 41 shows another embodiment of the apparatus of FIG. 40 integratedinto the handle of a golf club

FIG. 42 shows a graph of swing data as obtained from one or moreembodiments of the invention.

DETAILED DESCRIPTION OF THE INVENTION

A wireless golf club motion capture apparatus will now be described. Inthe following exemplary description numerous specific details are setforth in order to provide a more thorough understanding of the ideasdescribed throughout this specification. It will be apparent, however,to an artisan of ordinary skill that embodiments of ideas describedherein may be practiced without incorporating all aspects of thespecific details described herein. In other instances, specific aspectswell known to those of ordinary skill in the art have not been describedin detail so as not to obscure the disclosure. Readers should note thatalthough examples of the innovative concepts are set forth throughoutthis disclosure, the claims, and the full scope of any equivalents, arewhat define the invention.

FIG. 1 illustrates an embodiment of a system that may utilize motioncapture elements as shown in FIGS. 11, 12, 38, 39, 40 and 41 for examplethat enables a portable wireless mobile device motion capture andanalysis system 100. Although system 100 is shown as being capable ofutilizing embodiments of the invention, any other system that may obtaindata from embodiments of the invention may also be utilized incombination with embodiments of the motion capture elements describedherein. As shown, embodiments of the system generally include a mobiledevice 101 that includes computer 160, shown as located internally inmobile device 101 as a dotted outline, (i.e., also see functional viewof computer 160 in FIG. 1A), display 120 coupled to computer 160 and awireless communications interface (generally internal to the mobiledevice, see element 164 in FIG. 1A) coupled with the computer. Thesystem generally includes at least one motion capture element 111 thatcouples with user 150 or with piece of equipment 110, for example a golfclub, or baseball bat, tennis racquet, hockey stick, or any other pieceof equipment for any sport, or other sporting equipment such as a shoe,belt, gloves, glasses, hat, etc. The motion capture element mayoptionally include a visual marker, either passive or active, and/or mayinclude a wireless sensor, for example any sensor capable of providingany combination of one or more values associated with an orientation(North/South and/or up/down), position, velocity and/or acceleration ofthe motion capture element. The computer is configured to obtain dataassociated with the at least one motion capture element, either visuallyor wirelessly, analyze the data to form motion analysis data and displaythe motion analysis data on display 120 of mobile device 101.

One or more embodiments of the system may utilize a mobile device thatincludes at least one camera 130, for example coupled to the computerwithin the mobile device. This allows for the computer within mobiledevice 101 to command the camera 130 to obtain an image or images, forexample of the user during an athletic movement. The image(s) of theuser may be overlaid with displays and ratings to make the motionanalysis data more understandable to a human for example. Alternatively,detailed data displays without images of the user may also be displayedon display 120 or for example on the display of computer 105. In thismanner two-dimensional images and subsequent display thereof is enabled.If mobile device 101 contains two cameras, as shown in mobile device102, i.e., cameras 130 a and 130 b, then the cameras may be utilized tocreate a three-dimensional data set through image analysis of the visualmarkers for example. This allows for distances and positions of visualmarkers to be ascertained and analyzed.

Alternatively, for embodiments of mobile devices that have only onecamera, multiple mobile devices may be utilized to obtaintwo-dimensional data in the form of images that is triangulated todetermine the positions of visual markers. In one or more embodiments ofthe system, mobile device 101 and mobile device 102 a share image dataof user 150 to create three-dimensional motion analysis data. Bydetermining the positions of mobile devices 101 and 102 (via GPS chipsin the devices as is common, or via cell tower triangulation), and byobtaining data from motion capture element 111 for example locations ofpixels in the images where the visual markers are in each image,distances and hence speeds are readily obtained as one skilled in theart will recognize.

Camera 103 may also be utilized either for still images or as is nowcommon, for video. In embodiments of the system that utilize externalcameras, any method of obtaining data from the external camera is inkeeping with the spirit of the system including wireless communicationof the data, or via wired communication as when camera 103 is dockedwith computer 105 for example, which then may transfer the data tomobile device 101.

In one or more embodiments of the system, the mobile device on which themotion analysis data is displayed is not required to have a camera,i.e., mobile device 102 b may display data even though it is notconfigured with a camera. As such, mobile device 102 b may obtain imagesfrom any combination of cameras on mobile device 101, 102, 102 a, camera103 and/or television camera 104 so long as any external camera maycommunicate images to mobile device 102 b.

For television broadcasts, motion capture element 111 wirelesslytransmits data that is received by antenna 106. The wireless sensor datathus obtained from motion capture element 111 is combined with theimages obtained from television camera 104 to produce displays withaugmented motion analysis data that can be broadcast to televisions,computers such as computer 105, mobile devices 101, 102, 102 a, 102 b orany other device configured to display images. The motion analysis datacan be positioned on display 120 for example by knowing the location ofa camera (for example via GPS information), and by knowing the directionand/or orientation that the camera is pointing so long as the sensordata includes location data (for example GPS information). In otherembodiments, visual markers or image processing may be utilized to lockthe motion analysis data to the image, e.g., the golf club head can betracked in the images and the corresponding high, middle and lowposition of the club can be utilized to determine the orientation ofuser 150 to camera 130 or 104 or 103 for example to correctly plot theaugmented data onto the image of user 150. Any other algorithm forproperly positioning the motion analysis data on display 120 withrespect to a user (or any other display such as on computer 105) may beutilized in keeping with the spirit of the system.

One such display that may be generated and displayed on mobile device101 include a BULLET TIME® view using two or more cameras selected frommobile devices 101, 102, 102 a, camera 103, and/or television camera 104or any other external camera. In this embodiment of the system, thecomputer is configured to obtain two or more images of user 150 and dataassociated with the at least one motion capture element (whether avisual marker or wireless sensor), wherein the two or more images areobtained from two or more cameras and wherein the computer is configuredto generate a display that shows slow motion of user 150 shown fromaround the user at various angles at normal speed. Such an embodimentfor example allows a group of fans to create their own BULLET TIME® shotof a golf pro at a tournament for example. The shots may be sent tocomputer 105 and any image processing required may be performed oncomputer 105 and broadcast to a television audience for example. Inother embodiments of the system, the users of the various mobile devicesshare their own set of images, and or upload their shots to a websitefor later viewing for example.

FIG. 1A shows an embodiment of computer 160. In computer 160 includesprocessor 161 that executes software modules, generally stored ascomputer program instructions within main memory 162. Display interface163 drives display 120 of mobile device 101 as shown in FIG. 1. Optionalorientation/position module 167 may include a North/South or up/downorientation chip or both. Communication interface 164 may includewireless or wired communications hardware protocol chips. In one or moreembodiments of the system communication interface may include telephonicand/or data communications hardware. In one or more embodimentscommunication interface 164 may include a Wi-Fi™ and/or BLUETOOTH™wireless communications interface. Bluetooth class 1 devices have arange of approximately 100 meters, class 2 devices have a range ofapproximately 10 meters. Any wireless network protocol or type may beutilized in embodiments of the system so long as mobile device 101 andmotion capture element 111 can communicate with one another. Processor161, main memory 162, display interface 163, communication interface 164and orientation/position module 167 may communicate with one anotherover communication infrastructure 165, which is commonly known as a“bus”. Communications path 166 may include wired or wireless medium thatallows for communication with other wired or wireless devices overnetwork 170. Network 170 may communicate with Internet 171 and/ordatabase 172. Database 172 may be utilized to save or retrieve images orvideos of users, or motion analysis data, or users displayed with motionanalysis data in one form or another.

To ensure that analysis of user 150 during a motion capture includesimages that are relatively associated with the horizon, i.e., nottilted, the system may include an orientation module that executes oncomputer 160 within mobile device 101 for example. The computer isconfigured to prompt a user to align the camera along a horizontal planebased on orientation data obtained from orientation hardware withinmobile device 101. Orientation hardware is common on mobile devices asone skilled in the art will appreciate. This allows the image socaptured to remain relatively level with respect to the horizontalplane. The orientation module may also prompt the user to move thecamera toward or away from the user, or zoom in or out to the user toplace the user within a graphical “fit box”, to somewhat normalize thesize of the user to be captured.

Embodiments of the system are further configured to recognize the atleast one motion capture element associated with user 150 or piece ofequipment 110 and associate at least one motion capture element 111 withassigned locations on user 150 or piece of equipment 110. For example,the user can shake a particular motion capture element when prompted bythe computer within mobile device 101 to acknowledge which motioncapture element the computer is requesting an identity for.

One or more embodiments of the computer in mobile device 101 isconfigured to obtain at least one image of user 150 and display athree-dimensional overlay onto the at least one image of user 150wherein the three-dimensional overlay is associated with the motionanalysis data. Various displays may be displayed on display 120. Thedisplay of motion analysis data may include a rating associated with themotion analysis data, and/or a display of a calculated ball flight pathassociated with the motion analysis data and/or a display of a time lineshowing points in time along a time axis where peak values associatedwith the motion analysis data occur and/or a suggest training regimen toaid the user in improving mechanics of the user.

Embodiments of the system may also present an interface to enable user150 to purchase piece of equipment 110 over the wireless interface ofmobile device 101, for example via the Internet, or via computer 105which may be implemented as a server of a vendor. In addition, forcustom fitting equipment, such as putter shaft lengths, or any othercustom sizing of any type of equipment, embodiments of the system maypresent an interface to enable user 150 to order a customer fitted pieceof equipment over the wireless interface of mobile device 101.

Embodiments of the system are configured to analyze the data obtainedfrom at least one motion capture element and determine how centered acollision between a ball and the piece of equipment is based onoscillations of the at least one motion capture element coupled with thepiece of equipment and display an impact location based on the motionanalysis data.

While FIG. 1A depicts a physical device, the scope of the systems andmethods set forth herein may also encompass a virtual device, virtualmachine or simulator embodied in one or more computer programs executingon a computer or computer system and acting or providing a computersystem environment compatible with the methods and processesimplementing the disclosed ideas. Where a virtual machine, process,device or otherwise performs substantially similarly to that of aphysical computer system of the system, such a virtual platform willalso fall within the scope of a system of the disclosure,notwithstanding the description herein of a physical system such as thatin FIG. 1A.

Although system 100 is shown with an exemplary user 150 playing golf,one skilled in the art will appreciate that any user in moving in anyway and/or playing any sport using any piece of equipment may utilizeembodiments of the invention.

FIG. 2 illustrates an embodiment of the overall modes of the softwareprogrammed to execute on the computer of the mobile device, wherein thecomputer is configured to optionally recognize the motion captureelements, obtain data, analyze the data and display motion analysisdata. Mode 201 shows mobile device 101 having display 120 that displaysa user with highlighted points on the user and/or piece of equipment. Inthis mode, each sensor is identified and assigned one by one to aparticular area of the user or piece of equipment so as to recognizewhich sensors correspond to which movements of the user and/or piece ofequipment. Mode 202 is the mode where the computer in mobile deviceobtains data associated with at least one motion capture element asrecognized in mode 201. Mode 203 is the mode where the data is analyzedto form motion analysis data and display the motion analysis dataoptionally in conjunction with at least one image of the user. Mode 204is the mode where the motion analysis data and optional at least oneimage of the user is saved, or retrieved to display at a later time.

FIG. 3 illustrates displays associated with FIG. 2 in greater detail.Mode 201 includes sub-modes 201 a where each motion capture element isasserted, moved, switched on or other wise identified. Sub-mode 201 ballows for assignment of the motion capture element so asserted to aparticular body part of the user, or a location on the piece ofequipment. Mode 202 includes sub-modes 202 a where the computer obtainsdata associated with at least one motion capture element, either viaimage capture of one or more motion capture elements implemented asvisual markers, or via wireless sensors, or both visual markers andwireless sensors. Mode 203 includes sub-mode 203 a where main motionanalysis data items may be displayed, and sub-mode 203 b where detailedmotion analysis data items may be displayed. Mode 204 shows selection ofan archive name to store archive motion capture data, i.e., the motionanalysis data and any images of the user. Mode 204 also allows forretrieval of an archived motion capture data by selected a list item onthe display of the mobile device. In one or more embodiments, the motioncapture archived data may be stored on the mobile device or remotely oncomputer 105, or in database 172 accessed via network 170 and/or viaInternet 171.

FIG. 4 illustrates and embodiment of the recognition module that isconfigured to assign particular sensors to particular locations on anathlete and/or on a piece of equipment. In this simplified interface formode 201, a mobile application is selected from the interface in the farleft screen shot that then displays a number of activities or sportsthat can be motion captured by embodiments of the system. Selecting thedesired sport via a finger gesture or any other manner in this displayshows sub-mode screen 201 c that allows for the assignment of sensors toareas of the user's body, and/or sub-mode screen 201 d that allows forthe assignment of sensors to areas on the equipment for the particularsport selected in the second screen from the left in the figure.Automatic determination of the assigned sensor locations is alsopossible based on analyzing the spatial data obtain from a golf swing.For example by determining the positions, or speed of the varioussensors, an automatic assignment may be made, for example by taking thefastest moving component and assigning that to the golf club head, whiletaking the next fastest component and assigning that component to thehands, etc. Any other technique for automatically assigning sensors tolocations of embodiments of the invention is in keeping with the spiritof the invention.

FIG. 5 illustrates an embodiment of the obtain data module that isconfigure to obtain data from a camera (optionally on the mobile deviceor obtain through another camera or camera on another mobile device)through asserting the “start” button on the display. Any other method ofinitiating the computer within the mobile device to obtain data is inkeeping with the spirit of the system including user gestures such asmoving the piece of equipment in a particular manner or in any otherway. This is shown as sub-mode 202 a. When motion data capture is to beterminated, any user gesture may be performed via the display of themobile device, via the piece of equipment or via audio input to themobile device for example. Any other method of informing the computer tono longer obtain data is in keeping with the spirit of the system.Sub-mode 203 a where main motion analysis data items may be displayed,and sub-mode 203 b where detailed motion analysis data items may bedisplayed are shown with “close” buttons, so that the data can beignored for example. In addition, a slider in sub-mode 203 a allows forprecise control of the speed and/or location of the playback so thatslow motion analysis may be utilized to better understand the analysisand display of motion analysis data. In addition, the figure showsdisplays data analyzed by the analysis module and generated by thedisplay module to show either the user along with motion analysis data,or with motion analysis data alone. Double clicking or tapping on adetailed item may optionally display a list of exercises that a user mayperform to increase the user's performance.

FIG. 6 illustrates a detailed drill down into the motion analysis datato display including overall efficiency, head, torso, hip, hand, club,left and right foot segment efficiencies. Embodiments of the system thusenable physical training specific to the area that a user needs asdetermined by the analysis module. For example, asserting, doubleclicking or tapping, or clicking on the “training” button on the bottomof each efficiency screen as shown may display video, audio, or a listof exercises that a user may perform to increase the user's performancespecific to that segment. In addition, by asserting the “fitting” buttonon each segment display, a detailed list of pieces of equipment that mayperform better for the user based on the motion analysis data may beviewed. For example, if the user is swing too stiff of a golf club, thenthe golf club may be taking power out of the swing by slowing downbefore impacting a golf ball, while a more flexible shaft would speed upbefore impacting a golf ball. By asserting the “fitting” button, andbased on the motion analysis data, for example club head speed or ifmultiple sensors are fitted on the shaft, then by the flexing of theshaft, then alternate golf clubs may be displayed to the user. The usermay then press the purchase button, as will be detailed later, topurchase or custom order equipment that is better suited to the user.

FIG. 7 illustrates a close up display of motion analysis data associatedwith a user, without use of an image associated with a user. In thisclose-up of sub-mode 203 b, the efficiency, swing speed, release speed,face alignment angle and other quantities associated with the motionanalysis data are displayed. Any data that is obtained or that can beanalyzed and derived may be displayed.

FIG. 8 illustrates an embodiment of the motion capture element thatoptionally includes a visual marker and/or sensor. One or moreembodiments of the sensors are small, for example 12 mm or less indiameter and 4 mm or less thick in one embodiment. In addition, thesensors are inexpensive, lightweight, for example less than 5 grams inone or more embodiments. The sensors may utilize known wirelesscommunications protocols such as BLUETOOTH™ with a range ofapproximately 10 meters for Bluetooth class 2, or 100 meters forBluetooth class 1. Embodiments of the sensor may sample at 1200 timesper second or higher or lower depending on the desired performancerequirements. The sensors may be sealed for water resistance or proofingand while some embodiments may be opened, for example to replace abattery held inside the sensor housing. Any other sensor havingdimensions or capabilities that allow for measurement of any combinationof one or more of orientation, position, velocity and/or accelerationthat may couple to a piece of equipment or user may be utilized in oneor more embodiments as a motion capture element.

FIG. 9 illustrates a front view of FIG. 8. In this figure, the visualmarker is shown from above and signifies an instrumented user. Thecontrast between black and white allows for ease of capture.

FIG. 10 illustrates an embodiment of motion capture element 111implemented with a single white circle on a black passive marker andgray scale images thereof to show how the marker can be tracked byobtaining an image and searching for a luminance change from black towhite as shown at point 1001. Any other image processing algorithm maybe utilized to find an embodiment of the motion capture element withinan image as one skilled in the art will recognize, for example based ona color difference or gradient detected in an image in the area of anembodiment of motion capture element 111.

FIG. 11 illustrates a hardware implementation of an embodiment of theinvention implemented as a wireless inertial measurement unit, and anembodiment as configured to couple with a weight port of a golf club forexample. Printed circuit board (PCB) may be utilized to hold the variouscomponents of the sensor including any orientation, position, velocityand/or accelerometers. Hole 1101 may be utilized as a screw hole orother coupling point for coupling motion capture element 111 to a pieceof equipment, such as into a weight port of a golf club. Alternatively,threads at location 1102 or at location 1103 may be utilized to screwmotion capture element 111 onto the piece of equipment. Any other methodof coupling motion capture element to a piece of equipment or user is inkeeping with the spirit of the invention. Embodiments of the inventionmay also be placed near the head of a golf club, in the handle of a golfclub, or in any other piece of equipment. When placing an embodiment ofthe invention near the golf club head or handle, an adapter may beutilized so as to fit the apparatus to the specific make and/or model ofthe golf club. Each manufacturer has multiple types of weight portsizes, locations and shapes and any adapter that can for example screwinto a weight port hole and also fit threads at location 1102 may beutilized as an adapter. For handles, any tube size for a given make ormodel of a club may be utilized as an adapter so long as it allows thecomponents of embodiments of the invention to fit inside the golf cluband withstand the forces involved with a golf club swing. See also FIGS.38-42. In a wired embodiment of the golf club, apparatus 111 for exampleas mounted near a golf club head may electrically couple to anotherapparatus 3800 as shown in FIG. 38 so as to allow wired recharging ofboth apparatus in one golf club simultaneously.

FIG. 12 illustrates an embodiment of the motion capture element asconfigured to couple with different golf club types and a shoe. As shownin the leftmost figure, motion capture element 111 can couple directlyto a piece of equipment such as a golf club in the rear portion of theclub head. As the second from left figure illustrates, motion captureelement 111 may couple onto the bottom of a piece of equipment, such asa golf putter. In addition, as the third figure from the leftillustrates, motion capture element 111 may couple into the weight portof a piece of equipment, such as a driver. Furthermore, motion captureelement may couple with a piece of equipment that is worn by the user,effectively coupling with the user as shown in the rightmost figure.

FIG. 13 illustrates a close-up of the shoe of FIG. 12 along with apressure map of a shoe configured with a pressure mat inside the shoeconfigured to output pressure per particular areas of the shoe. In thisembodiment, motion capture element may also interface to a pressuresensing mat capable of producing pressure map 1301 from inside of theshoe and relay the pressure information to the mobile device foranalysis. Alternatively, pressure sensors may be placed through theshoe, for example in a grid, to provide weight bearing information tothe mobile device, for example wirelessly via the motion captureelement. Each pressure sensor may couple to a transceiver or contain itsown transceiver, or couple via wires or wirelessly to the motion captureelement in order to transmit pressure data, for example to display ondisplay 120. By color coding the map and displaying the map on display120, a color graphic rating is thus obtained, which may includenumerical ratings of the pressure signature when compared to savedpressure maps which resulted in good swings for example.

FIG. 14 illustrates an embodiment of sunglasses configured with a motioncapture element. In addition, the sunglasses may also include a videoviewing device that may be utilized for display 120 so that the user maywatch images of the user with motion analysis data via the sunglasses.In this manner, any computer 160, 105, or any other computer coupled tonetwork 170 or Internet 171 may be utilized to obtain data and analyzedata so that the resulting motion analysis data may be displayed on thesunglasses.

FIG. 15 illustrates an embodiment of a display that depicts the locationof a golf ball strike as determined by the oscillations in the golf clubface during and/or after the golf club impacts a golf ball. In one ormore embodiments of the invention, if the golf ball impacts the club atlocation 1501, then a particular frequency response is obtained viaorientation or velocity sensors in motion capture element 111 that iscoupled with the club shown. If the golf ball impacts the club atlocation 1502, then a distinct frequency response is obtained via themotion capture element 111 coupled to the club. One embodiment fordetermining where a ball impacts a club involves recording impacts froma variety of locations at a range of speeds and using the resultingfrequency responses to determine which one is the closest to the impactdetected. Impacts that occur high or low on the club face tend toproduce a vertical axis oscillation of greater amplitude than impactsthat occur at location 1501. Impacts that occur closer to the shaft tendto produce lower amplitude oscillations in the horizontal axis thanimpacts that occur further from the shaft. Hence, another method fordetermining impact is to form a ratio of the amplitude of horizontal tovertical axis frequency amplitude and then search for the closest matchfrom a saved set of impact frequency responses and retrieve the x and ylocations on the club face where the closest match has occurred. Inanother embodiment of the system, a series of impacts is recording atthe center of the club and at 4 points away from the center along thepositive x axis, (away from the shaft), positive z axis (above thecenter point of the face), negative x axis (near the shaft) and negativez axis (below the center point of the face) wherein the motion captureelement transmits x, y and z velocities associated with the impact. Thevelocities are converted into the frequency domain and saved. Then, whendetermining an impact location for a test swing, an interpolationbetween the impact in question and the center point and 4 other pointsis performed to determine the location of the impact. Any other methodof determining the impact location that does not require other sensorsbesides the motion capture element coupled to the club is in keepingwith the spirit of the invention.

FIG. 16 illustrates a camera alignment tool as utilized with embodimentsof the system to create normalized images for capture and analysis. Inthis figure, level lines 1601 are shown that for example become brighterwhen the mobile device is level. Any other manner of displaying that themobile device is level may also be utilized. FIG. 17 illustrates abalance box and center alignment line to aid in centering a user toobtain image data. FIG. 18 illustrates a balance box and centeralignment line, along with primary and secondary shaft lines to aid incentering and analyzing images of the user for use in capturing datafrom the side of the user. Once the user is centered, the computer mayobtain data and images that are normalized to the horizontal plane.

FIG. 19 illustrates an embodiment of the display configured to aid inclub fitting for a user, wherein a user may test multiple clubs andwherein the display shows motion analysis data. For embodiments of thesystem that include purchase and order fulfillment options, buttons suchas “purchase” and “customer order” may be utilized. Alternatively, a“buy” button 1902 may be shown in “club fitting” mode 1901 that enablesa user to buy or custom order a custom club that the user is workingwith.

FIG. 20 illustrates an embodiment of the display configured to displaymotion analysis data along with the user, some of which is overlaid ontothe user to aid in understanding the motion analysis data in a morehuman understandable format. For example, rotation rings 2003 may beshown overlaid on one or more images of the user to shown the angle ofthe axis of rotation of portions of the user's body, such as shouldersand hips. In addition, motion analysis data associated with the user canbe shown numerically as shown for example as “efficiency” of the swing2002, and velocity of the swing 2001.

FIG. 21 illustrates an embodiment of the system configured to display auser from multiple angles 2101 when multiple cameras are available. Anyalgorithm that may process images to eliminate backgrounds for examplemay be utilized to show multiple instances of the user on onebackground. Alternatively, one or more embodiments of the system mayshow one image of the user at a time in slow motion as the user moves,while changing the angle of the view of the user in normal time, whichis known as BULLET TIME®.

FIG. 22 illustrates another embodiment of the multi-angle display as isalso shown in FIG. 21. This figure also includes three-dimensionaloverlay graphics 2201 to aid in understanding the motion analysis datain a more human understandable manner. Second instance of the user 2202may or may not be shown with the same overlay from a different angle.

FIG. 23 shows an embodiment of the system configured to display motionanalysis data on a mobile computer, personal computer, IPAD® or anyother computer with a display device large enough to display the desireddata.

In any embodiments detailed herein, efficiency may be calculated in avariety of ways and displayed. For embodiments of the invention thatutilize one motion capture element, then the motion capture elementassociated with the club head may be utilized to calculate theefficiency. In one or more embodiments of the invention, efficiency maybe calculated as:

Efficiency=(90−angle of club face with respect to direction oftravel)*Vc/Vmax

As more sensors are added further from the piece of equipment, such asin this case a club, the more refined the efficiency calculation may be.FIG. 24 illustrates a timeline display of motion analysis data thatshows multiple sensor angular speeds obtained from multiple sensors on auser and on a piece of equipment. FIG. 25 illustrates a timeline displayof angular speed of a second user. One or more embodiments of the systemmay calculate an efficiency based on relative times of the peaks of thehips, shoulders, arms and club for example. In one or more embodimentsof the invention utilizing more than one motion capture element, forexample on the handle and club head, the angular velocity Wa of thehandle is divided by the angular velocity Wc of the club head tocalculate efficiency with more information. By obtaining a large numberof timelines from various professional athletes and determining averageamplitudes of angular velocities of various body parts and/or timings,then more refined versions of the efficiency equation may be created andutilized.

Efficiency=(90−angle of club face with respect to direction oftravel)*Vc/Vmax*Wa/Wc*1.2

FIG. 26 illustrates a timeline display of a user along with peak andminimum angular speeds along the timeline shown as events along the timeline instead of as Y-axis data as shown in FIGS. 24 and 25. In thisunique view, the points in time where the peaks of the graphs of FIGS.24 and 25 are shown as colored boxes that correspond to the colors ofthe graphs in FIGS. 24 and 25, yet in a more human understandable formatthat shows the relative timing of the peaks. In addition, at the bottomof FIG. 26 a graph showing the lead and lag of the golf club along withthe droop and drift of the golf club is shown wherein these valuesdetermine how much the golf club shaft is bending in two axes as plottedagainst time.

One or more embodiments of the system may analyze the peaks and/ortiming of the peaks in order to determine a list of exercises to provideto a user to improve the mechanics of the user. For example, if the armsare rotating too late or with not enough speed, a list can be providedto the user such as:

TABLE 1 Arm Speed Exercise 1000-1500 degrees/sec Impact Bag Drawbacks1501-1750 degrees/sec Drawbacks 1751-2000 degrees/sec No drills

The list of exercises may include any exercises for any body part andmay displayed on display 120. For example, by asserting the “Training”button on the displays shown in FIG. 6, a corresponding body part listof exercises may be displayed on display 120.

FIG. 27 illustrates a display of the calculated flight path 2701 of aball based on the motion analysis data wherein the display is associatedwith any type of computer, personal computer, IPAD® or any other type ofdisplay capable of displaying images. FIG. 28 illustrates a display ofthe calculated flight path 2801 of a ball based on motion analysis datawherein the display is coupled with a mobile device. After a swing of agolf club, and based on the club head speed as determined by motioncapture element 111, the loft of the club and the angle at which theclub strikes the ball (meaning that there is another motion captureelement in the handle or near the hands of the user), a flight path maybe calculated and displayed. Any model may be utilized as is known inthe art to calculate the trajectory based on the club velocity asmeasure via motion capture element 111, one such model is described in apaper by MacDonald and Hanzely, “The physics of the drive in golf”, Am.J. Phys 59 (3) 213-218 (1991). See FIG. 37 for one embodiment of theequation used to calculate the accelerations in the x, y and z axeswherein:

x=laterally sideways (right is positive, left is negative)

y=down the fairway (always positive)

z=vertically upwards (up is positive, down is negative)

B=a constant dependent on the conditions of the air, an appropriatevalue=0.00512

u=vector of relative velocity between the ball and the air (i.e. wind),u=v−v_(w)

Cd=coefficient of drag which depends on the speed and spin of the ball

Cl=coefficient of drag which depends on the speed and spin of the ball

a=the angle between the vertical and the axis of rotation of thespinning ball

g=the acceleration due to gravity=32.16 ft/s2

A numerical form of the equations may be utilized to calculate theflight path for small increments of time assuming no wind and a spinaxis of 0.1 radians or 5.72 degrees is as follows:

xacceleration=−0.00512*(vx̂2+vŷ2+vẑ2)̂(½)*((46.0/(vx̂2+vŷ2+vẑ2)̂(½))*(vx)+(33.4/(vx̂2+vŷ2+vẑ2)̂(½))*(vy)*sin(0.1))

yacceleration=−0.00512*(vx̂2+vŷ2+vẑ2)̂(½)*((46.0/(vx̂2+vŷ2+vẑ2)̂(½))*(vy)−(33.4/(vx̂2+vŷ2+vẑ2)̂(½))*((vx)*sin(0.1)−(vz)*cos(0.1)))

zacceleration=−32.16−0.00512*(vx̂2+vŷ2+vẑ2)̂(½)*((46.0/(vx̂2+vŷ2+vẑ2)̂(½))*(vz)−(33.4/(vx̂2+vŷ2+vẑ2)̂(½))*(vy)*cos(0.1))

FIG. 29 illustrates a display of a broadcast television event wherein atleast one motion capture element in the form of a motion sensor iscoupled with the golf club and optionally the user. The display can beshown in normal time after the athlete strikes the ball, or in slowmotion with motion analysis data including the three-dimensional overlayof the position of the sensor on the end of the club shown as a traceline and including the angle of the plane 2901 in which the swing takesplace versus the horizontal plane. In addition, other motion analysisdata may be shown such as the swing speed 2902, distance (calculated oractual) and efficiency 2903.

FIG. 30 illustrates a display of the swing path with a strobe effectwherein the golf club in this example includes sensors on the club headand near the handle, or optionally near the hands or in the gloves ofthe user. Optionally, imaged based processing from a high speed cameramay be utilized to produce the display. A line or captured portion ofthe actual shaft from images may be displayed at angle 3001, 3002 and3003 for example. The swing path for good shots can be compared to swingpaths for inaccurate shots to display the differences in a humanunderstandable manner.

FIG. 31 illustrates a display of shaft efficiency 3105 as measuredthrough the golf swing. For example, by obtaining motion capture datanear the club head and club handle, graphical strobe effects and motionanalysis data can show the club head through time at 3101, 3102, 3103and 3104 and also display speed, club handle speed and club shaftefficiency at 3106 in normal time or slow motion.

FIG. 32 illustrates a display of putter head speed and/or accelerationbased on at least one sensor near the putter head, for example ascoupled into the weight port of a putter. The various quantities fromthe motion analysis data can be displayed at 3201 to aid inunderstanding speed and/or acceleration patterns for good putts and badputts to help viewers understand speed and/or acceleration in a morehuman understandable manner.

FIG. 33 illustrates a display of dynamic lie angle, wherein the lieangle of the player at address 3302 before swinging at the ball can becompared to the lie angle at impact 3301 to help the viewer understandhow lie angle effects loft and ball flight, while quantitatively showingthe values at 3303.

FIG. 34 illustrates a display of shaft release, wherein the angularrelease velocity of the golf shaft is a large component of theefficiency of a swing. As shown, a display of a golfer that has sensorsnear his waist and hips (to produce spine angle 3402) and sensors on thegolf club head and handle (to produce shaft angle 3401), or asdetermined through image processing with or without visual markers, isshown along with the motion analysis data including club shaft releasein degrees per second at 3403.

FIG. 35 illustrates a display of rotational velocity wherein the faceangle, club face closure in degrees per second, the loft angle and lieangle are determined from a motion capture sensor coupled with the clubhead for example and numerically shown at 3501.

FIG. 36 illustrates a display of historical players with motion analysisdata computed through image processing to show the performance of greatplayers. By tracing and determining the locations of two points 3601 and3602 on each player's golf club as shown and knowing the height of theplayers and/or lengths of their clubs and angle at which the imageswhere taken, distances and thus velocities of the golf clubs may bedetermined to calculate numerical values as shown at 3603.

FIG. 37 illustrates one embodiment of the equations used for predictinga golf ball flight path as used to produce displays as shown in FIGS. 27and 28.

FIG. 38 shows elements of an embodiment of the invention 3800 configuredto fit into the end of a golf shaft. (See also FIG. 11 for anotherembodiment that may fit into a golf shaft or couple near the head of agolf club). Sensor 3801 may include spatial sensors that obtain dataassociated with orientation, position, velocity, acceleration (or anyother derivative with respect to position and time). For example,accelerometer(s) may be utilized that obtain acceleration data in one ormore axes. Alternatively, or in combination, the sensors may includegyroscope(s) that allow for orientation with respect to the horizon tobe accurately determined. Alternatively, or in combination, the sensorsmay include magnetometers that allow for orientation with respect toNorth/South to be accurately determined. Any combination of these sensortypes may be utilized to obtain spatial data that may be utilized byembodiments of the system described to analyze and display the spatialdata in a user-friendly manner. Embodiments of the apparatus may includemicrocontroller 3802, i.e., a programmable computer element is smallform factor, for example a low power microcontroller. One or moreembodiments of the apparatus may include a unique identifier thatidentifies the particular instance of the apparatus. The identifier maybe stored in the memory of microcontroller 3802 or in a separate chip ormay be received by the microcontroller from an external system, i.e.,programmed. Any other mechanism for obtaining a unique identifier thatmay be utilized with embodiments of the invention is in keeping with thespirit of the invention. The apparatus may also include radio andantenna 3803 (or separately as per FIG. 40 3803 a and 4001) to enablewireless communication of the unique identifier and spatial data, forexample via a communication mechanism that for example minimizes oreliminates communication interference so that multiple clubs from one ormore players may be used in the same vicinity without communicationinterference. One or more embodiments of the radio may compriseBluetooth, adaptive frequency hopping spread spectrum, or code divisionmultiple access (CDMA) or other wireless communications technologieshaving for example multiple channels of communication to allow formultiple radios to operate in a given location without interference.Power for the apparatus may derive from one or more batteries 3804. Forexample on or more CR1216 batteries may be utilized to double the amountof time that the club may be utilized. Embodiments of the apparatus mayutilize mounting board 3810, for example a printed circuit board tomount the various components to. In addition, adapter 3805 may beutilized to house sensor 3801, microcontroller 3802, radio/antenna 3803,battery or batteries 3804 directly or via mounting board 3810 that maycouple with these elements. Adapter 3805 may be unique to each golfclub, manufacturer, model or any available standard, for example ahandle standard size. In one or more embodiments adapter 3805 maycomprise a 25 mm deep and 14.5 mm in diameter tube structure, forexample made of epoxy or plastic or any other material strong enough tohold the various components in place and withstand the force involvedwith a golf swing. In addition, embodiments of the invention may alsoutilize cap 3806, for example a closure cap that is utilized to covermounting board 3810 within the club handle (or club head). Closure cap3806 may include a visual marker as is shown in FIGS. 9, 10 and 12 forexample, for visual processing. In addition, cap 3806 may include a pushswitch to power the apparatus on and/or off. One or more embodiments ofthe invention power off automatically, or go into a hibernation modeafter a particular amount of time the golf club has not moved over acertain speed for example. In addition, by obtaining the spatial datafrom multiple apparatus coupled with a particular club for exampleenables the automatic determination of which apparatus is located in ahandle and which apparatus is located at the golf club head based on thedifferences in speed during a swing for example. Any other method forautomatically determining the assigned location of each apparatus on agiven golf club is in keeping with the spirit of the invention.

Embodiments of the invention using a unique identifier may be utilizedas a lost club alarm, so that if contact is lost with one of the clubsassociated with a player, an alarm may be presented by one or moreembodiments of the system. Embodiments of the invention that include athree axis accelerometer enable analysis and display of swing speed,tempo, handle versus head speed, swing efficiency, durability counterand shot by shot analysis. Embodiments of the invention that include athree axis gyroscope enable analysis and display of alignment, lieangle, loft angle, handle release and 3-D angular velocity. Embodimentsof the invention that include a magnetometer enable analysis and displayof swing tracer, swing path, impact location, ball flight, 3-D impact,shaft deflection, shaft efficiency and 3-D video overlay. Any otherdisplays that make use of the different type of spatial sensors is inkeeping with the spirit of the invention.

FIG. 39 shows an embodiment of the apparatus of FIG. 38, here designated3901 as integrated into the handle of golf club 3902. Optionalelectrical connection 3903 enables the coupling of an embodiment of theinvention situated in a handle of a golf club to an embodiment of theinvention situated near the golf club head so as to allow forsimultaneous recharging of both apparatus. Cap 3806 may include aninductive coil to allow for wireless charging (as is common in electrictoothbrushes for example), or may include any type of power couplinginterface or outlet as one skilled in the art will appreciate.

FIG. 40 shows elements of another embodiment of the invention configuredto fit into the end of a golf shaft. In this embodiment, mounting board3810 also includes radio 3803 a, along with antenna 4001 (as separateunits compared with FIG. 38), heat sink 4002, recharger 4003 andovercharge detector 4004. Recharger 4003 may be implemented for exampleas an induction element that wirelessly enables recharging battery orbatteries 3804. Overcharge detector 4004 may electrically connect withbattery or batteries 3804 and recharger 4003 to determine when thebatteries should no longer be charged, or when charging should resume.Alternatively, a wired connection may be utilized to charge battery orbatteries 3804 as one skilled in the art will appreciate. In addition,since a wire may be run through the shaft of the golf club, the samecharging port may be utilized to charge batteries in two or moreapparatus, for example one located in a golf club handle and another onelocated near the golf club head. A wireless golf club is thus producedwith a wired internal connection for ease of charging.

FIG. 41 shows another embodiment of the apparatus of FIG. 40, heredesignated 4101 as integrated into the handle of golf club 3902.

FIG. 42 shows a graph of swing data as obtained from one or moreembodiments of the invention. Any other user-friendly display may beutilized that includes spatial data obtained from one or moreembodiments of the invention as one skilled in the art will recognize.In the figure as shown, the X-axis data may be utilized to show positionversus time to graphically display information related to a golf swing.Any other display as previously described above may also be utilized todisplay spatial data associated with one or more embodiments of theinvention.

While the ideas herein disclosed has been described by means of specificembodiments and applications thereof, numerous modifications andvariations could be made thereto by those skilled in the art withoutdeparting from the scope of the invention set forth in the claims.

What is claimed is:
 1. A wireless golf club motion capture apparatuscomprising: at least one sensor configured to obtain spatial data; amicrocontroller coupled with said at least one sensor; a uniqueidentifier associated with said microcontroller; a radio coupled withsaid microcontroller; an antenna coupled with said radio; a batterycoupled with said at least one sensor, said microcontroller and saidradio; a mounting board coupled with said at least one sensor, saidmicrocontroller, said radio and said antenna; an adapter configured tocouple said mounting board to a golf club; said microcontrollerprogrammed to obtain said spatial data from said at least one sensor,transmit said unique identifier and said spatial data, via said radioand said antenna.
 2. The wireless golf club motion capture apparatus ofclaim 1 wherein said at least one sensor includes an accelerometer. 3.The wireless golf club motion capture apparatus of claim 1 wherein saidat least one sensor includes a gyroscope.
 4. The wireless golf clubmotion capture apparatus of claim 1 wherein said at least one sensorincludes a magnetometer.
 5. The wireless golf club motion captureapparatus of claim 1 wherein said spatial data includes any valueassociated with an orientation, position, velocity, acceleration of saidat least one sensor.
 6. The wireless golf club motion capture apparatusof claim 1 further comprising a visual marker coupled with said mountingboard.
 7. The wireless golf club motion capture apparatus of claim 1wherein said microcontroller further comprises a memory unit configuredto store said unique identifier.
 8. The wireless golf club motioncapture apparatus of claim 1 wherein said mounting board is a printedcircuit board.
 9. The wireless golf club motion capture apparatus ofclaim 1 wherein said adapter is configured to couple said mounting boardwithin a handle of said golf club.
 10. The wireless golf club motioncapture apparatus of claim 1 wherein said adapter is configured tocouple said mounting board to a head of said golf club.
 11. The wirelessgolf club motion capture apparatus of claim 1 wherein said radio enablesinterference free communication.
 12. The wireless golf club motioncapture apparatus of claim 1 wherein said radio may select a channel forcommunication from multiple available channels of communication.
 13. Thewireless golf club motion capture apparatus of claim 1 wherein saidradio allows a plurality of said wireless golf club motion captureapparatus to be coupled with said golf club without communicationinterference from each respective radio in each of said wireless golfclub motion capture apparatus.
 14. The wireless golf club motion captureapparatus of claim 1 wherein said radio allows a plurality of golf clubsassociated with a player to communicate said spatial data withoutcommunication interference from said plurality of golf clubs associatedwith a player.
 15. The wireless golf club motion capture apparatus ofclaim 1 wherein said radio allows a plurality of golf clubs associatedwith a plurality of players to communicate said spatial data withoutcommunication interference from said plurality of golf clubs associatedwith said plurality of players.
 16. The wireless golf club motioncapture apparatus of claim 1 wherein said wireless golf club motioncapture apparatus enables an assigned location of said at least onesensor coupled with said golf club to be automatically determined basedon said spatial data.
 17. The wireless golf club motion captureapparatus of claim 1 further comprising a recharger coupled with saidbattery and an overcharge detector coupled with said recharger and saidbattery.
 18. The wireless golf club motion capture apparatus of claim 1further comprising heat sink.
 19. The wireless golf club motion captureapparatus of claim 1 further comprising a cap to cover said mountingboard within a portion of said golf club.
 20. The wireless golf clubmotion capture apparatus of claim 1 further comprising an electricalconnection from a first wireless golf club motion capture apparatuscoupled to a handle of said golf club, to a second wireless golf clubmotion capture apparatus coupled to a head of said golf club to enableelectrical charging of said first and said second wireless golf clubmotion capture apparatus simultaneously.